CS245273B1 - Integration regulator especially for speed regulation circuit's with industrial robots - Google Patents

Description

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HaoÓpeieHHe ποποΗΗβτοΗ ηηκθ óojiee nospoÓHO Ha npMuepeocymecTBneHHH. CooTBeTCTByiouiHe HepieaH noKa3biBaioT: γηγ. I-Cxeua npoxowfleHHH CMrHaaa ηητθγρθββηογο lip-JlHTOpa CONiaCHO H30ÓpeTeHHIO. . Φηγ. 2 - HorMnecKaa cxeMa peryaniopa. Φηγ. 3 - ^ warpauMbi, npeflCTaBJiHioinne 33βηοημοοτβ βηχολ- ηογο CHrHaJia peryBHTopa οτ paccoraacoBaHHH.IlepeflaTOHHbie 3β6ηβη, οβη3βηηη6 cornacHO $ wr.I, hbbhíotch η3βθ-CTHbíMH (JyHKHHOHaJiBHbíMM Úbokhmh τβχΗΗΚΗ peryniipoBaHUH. Ohh MO-engravable OtíTB BhinOJIHCHbl W3 aHaflOrOBHX ΗΒΗ ρκφρΟΒΗΧ SJíeKTpOHHhlX uo-syaefi. Βηγοαηηη φορι, ιβ βηποληθηηη ρΗφροΒΟΓΟ peryamopa, κοτο-Pun wipe clean HcnuTaH zoiH Henu perynupoBaHUH οκοροοτκ TOTeaoBecHuxροόοτοΒ, onucbiBaeTCH kneaded. Βχολη peryBHTopa - φδκτΗΗβοκοβ 3HaqeHne h 3asaHHoe sHaweHHe - b βηλθ yncjia nunyBtcoB b ESU-hhiii BpeweHH ποαβο ^ ητ to cyMMwpyiomeMy 3BeHy II coraacHO φΗΓ. Y, peasH30BaHH0My c we ^ ^ KO ^ ^ y y y y y y y y corn corn corn corn corn corn corn corn corn corn corn corn corn ne ne ne ne ne ne ne ne ne ne ne ne ne ne ne ne ne ne ne ne ne ne ne ne ne Tarae 4-ip Hrrepbi 2.7; 2.8 peajiH3yioT He-jiHHefóHue nepesaTOMHbie 3βθηβη 1.4; 5.1; 1.6; 1.7 and 1.8 TanecyMMHpyBiawe ββθηβη; 1.9 coraacHO φΗΓ.Ι, nepe3 βογημθοκηθcxeMbi 2.16; 02.09 02.02 οηθτηηκ ycTaHaBBHBaeTCH b ncxosHoe nonoose-HH6 nepe3 nocTOHHHbie npomeaíyTKH BpeiíeHH. HeotíxoflHMHfi tuih 3to-ro KpaTKOEpeMeHHbi HwnyjiBc, co3saHHuft, HanpHMep, reHepaiopoM2.20, peajiH3yeT noporoBoe SHaneHHe HeBHHefiHbix nepeAaTOHHbix3ΒβΗΒθΒ 1.4; 1.6 coraacHO Φηγ.Ι. LÍHTerparopu I.IO; I.II, aTaoe nepeKBKwaTean πορογοβογο 3ηη6ηηη I.I2; I.I3 coraacHOφΗΓΙΙ pea? IH3yK) T .12βτνκκΗ 2.12; 2.13 b coeanHeHMH c aornqecKE-MH CXeMHMH 2.10; 2. II. ECJM BUXOSHOÉ K CWSTMH “Ky 2.12 ηβη cqerqHKy'2.13, το b pe3yjiBT & Te οτπηρηηηη βθητηβη2.14 ΗΒΗ ΒβΗΤΗΒΗ 2.15 Β ΟΟΒΒΗΗΘΗΗΗ C COOTBSTCTEyϊΟϋΐΘΗ ΒΟΓΗΗΘ-ckom cxeszofc 2.17; 2.18 'caerqnK 2.1 o6xoshtch to Tet.' cauuM nepe-KBio ^ aeTCH on WeinBeinGeBeHHfl, ostí ostí p H H H H H H H H H H H H H H H CT CT CT CT H H H H H H. ycTaaoBKH .bbh CMeTHKRa 2.2. coτο cooTaeTcri-yeT nepe-KflKBjeHKE Bpe'ueHH HHierpHpoB3HMH KKTerpaTopa 1.2 nyT &amp; u nepe-KBiogaTfcBH I.I5 h nepeKBDyaieBH 1.3 coraacHO Φηγ.Ι. Πρκ kbes-HeHKH 3HaKa paccoraacoBaHMa b ssbhchmoctk οτ ηθ-πποββοκηη kb-ΜβΗβΗΗΗ sHaica ycTaHaBBHBaBTCH b HCXOAHoe coctoe; ze ;; hhtc- 245273 -6- rpaTop 1.10 ho nmerpaTop I.II, KOTopue .12ωηοοβΗω b βηλθcyeTyiiKOB 2.12; 2.13 h Tet! cat: t! M οηοβθ npoHexooT neeKjuowe-Hne na dojitiiioe BpeMH HHTerpHpoBaHHH. PatíoTa cxeMhi ποΗΟΗΗβτοπc noMombK) / warpaMM cumana KOMneHcaunn perynHTopa b 38βηοημο-cth ot paccoraaeOBaHHfl, npescTaBJíeHHtix Ha φΗΓ. 3. (a) PaccoraacoBaHHe ποοτοηηηο, ho Ηβ3Η3ΜΗΤβΛΒΗ0; - noporoBoe 3HSHeHHe He npeBuuiaeTCH, - ηβοθτοη fletiCTByromww dojiBinee BpeMH HHTerpHpoBaHHH. 6) PaCCOrflaCOBaHHe ΒβΟΚΟ, HO ΚρβΤΚΟΒρβΜβΗΗΟ π de3 H3Me-HeHHH HanpaBfleHHH: - nepesaToobie ββθηβη c nepeoimioineí! xapaKTepHCTHKofiI.I2; I.I3 He cpadaTbiBaioT, - HBflfiTCfl flefCTByroiuMM doBiiiee BpeMH HHTerpHpoBaHHH. b) PaccorjiacoBaHHe βθοκο h wMeeiCH b ηθοοη sonroe Bpe-MH 6e3 HSueHeHwa HanpaBJieHHH; - ue MOueHTy BpeueHH-- £ π ρ nep nep Ha pe pe pe pe pe pe pe pe pe pe pe pe pe pe pe pe pe pe pe pe pe pe pe BpeMH HHTerpHpoBaHHH. r) h EojiBiiioe HMeromeecn b ηηοηηη sojiroe BpeMH paccornaco-BaHHe npepuBaeTCH κρητκοβρθμθηημμ ΗβΜβΗβΗΗβΜ HanpaBJíeHHH pac-cornacoBaHUH - κ uoueHTy BpeueHH peryoTop Chobe CPAE πβρβκπκ XE-Ha qaercfl doornoe BpeMH HHTerpHpoBaHHH. B pesyjiBTaTe οπηοθηηογο cnocoda fleficTBHH pa3oqaioTCH du-cTpue H3MeHeHHH 3aAapomeM βθΛηηηημ rpm nowex h b cjiyqae TanorotíHCTporO Η3ΜβΗβΗΗΗ 3asaiomeií ΒβΟΟΗΗ ΒΠΗΟΤΒ S0 Η3ΜβΗβΗΗΗ ηθ-npaBjíeHHH npoHexosHT nepeiuiioHeHHe Ha WANO BpeMH HHTerpHpoBa-HHH. Apa κ μ apa apa OM apa ic ic í apa apa apa apa apa apa apa apa apa apa apa apa apa apa apa apa apa apa apa HT HT HT HT HT ery ery ery ery ery ery ery ery ery ery ery ery ery ery 245273 -7-

Oopuyjia K3o6peTeHHH MHTerpani> Huí5 peryanTop b wacmocTH, #jih peneíi peryjiH-poBaHMH CKopocTH npoMuuuieHHbix ροδοτοΒ, coíepwaiHnň pacnojiose-HH6 Tpex cyMMHpyioinHX 3B6HLeB »Tpex HHTerpaTopoB, qeTbipexHejiHHeííHUX nepesaToqHHX 3BeHBeB, / tByx NEP / iaTOWHux 3B6hb6b cnepeKJiw ^ aiomeii xapaKTepMCTHKOň, Osho] JiormecKOfi, cxewu HJIH wSByx nepeoioMaTejie, οτλη ^ βιϊιβΚοη those, <toxybi peryBHTopa - $ aKTnyecKoe 3HaweHKe / x / a 3a ^ aHHoe 3Ha ^ eHHe / v / / - coean-H6Hbl C nepBHM CyKMHpyI01HHM 3ΒβΗ0Μ (II), BUX0 £ ΠβρΒΟΓΟ CyMMH- pyKmero sBeňa (II) coeflHHeH c nepsuM KHTerpaTopou (1.2) cnepeKJiioyaeuHM BpeweHeM KHTerpHpoBaHHH HC nepBHM neperanowa-tene (1.3) κοητβκτ ποκοη κοτοροΓο οβη3βη c nepBHM HeJiHHefi-HbJM nepeíaToqHKM 3βθηομ (1.4) c ποΛΟϊΗΤβηΒΗΗΜ πορογΌβημ 3ha-qeHKeu κ btophm HeanHeMHUM nepesaTo ^ HbíM 3seH0M (1.6) c οτρπ-uaTejiBHb ?. ' noporoBBM oHaweHHeM, and padoanň κοητβκτ κοτοροΓοCBHsaH c rpeTBKt: HeJiKHeBHHM nepeTtaTOWHbíM 3Β6Ηθω (1.5) c nosse-i? ou xapaK? : -: NEP eai5HefiHHM aTOMHUM ββθηομ ^ (1/7) c πολβθμομ xapan-Tspiicrzr.- ;: NPA oTpiínaiejiBHHX bxoahux CHrHanax, npHHew nepBoe hτρετΒβ HeaííHSÍiHoe NEP-aioqHOe 3βόηο (1.4; 1.5) coeflB.HeHH coBTopbiM cyMunpyioiiíHií 3ΒβΗοω (1.8), and BTopoe κ neTBepioe Heaw-aeiíKoe r.epesaTOMHoe sseHO (;.6; 1.7) coeajhchh c TpeTBHU cyu-r.Hpywx 3B6H0M (IS), Biopoe cybrcpyi- ^ ee cbsho (1.8) coesn-H6H0 CO BΓΟρUM ΗΗΤβΓρβΤΟρΟΜ (I.IO) B P 68 Β Β Í Β Β Β Β Β Β Β Β Β Β Β Β Β Β Β Β Β Β Β C C C C C C C C C C C C HT HT HT HT HT HT HT HT HT HT HT HT HT HT HT HT HT. .Σ) yc7a ~: á3. ': I; b3STCJ5 Ha xa ~ 0, - η ^ .. ϊ'; Η.: Κ οργηρλβ Ha jpe-Bí-: · cy. ':,: I · ρν!: · · -, 3!.: 3sene (1.2) btopoí; wHTerpaTop (I.IO) ycra-HaBJiBBS; 72H H3 xa = 0, STOU BTOpOE ΚΚΤΟΓρβΤΟρ (I.IO) CBH- 245273 -8- aaH c nepBHM nepeflaiowHbíM 3bshom c nepeKnioqaioneíí xapaKTepwcTH-κοβ (I.I2), and TpeTHfi MHTerpaTop (I.II) CBH3aH co btopum nepe-TiaTO ^ HhiM 3b6hom c nepeKMOuaioiHefi xapaKTepucTWKOii (I.I3) h bhxo-sh nepesaToynbix ββθβββ c nepeiwjoqaiomefi xapaKTepwcTHKOt} coeflH-ΗβΗΗ C MOrHHeCKOil ΟΧβΜΟβ ΗΛΗ (I.I4), BblXOflHOi? ΟΜΓΗβΛ KOTOpOňHBJIH6TCH ynpaBJlJWUiHM 0ΗΓΗ3Λ0Μ flJlH ΠθρΒΟΓΟ ΠβρβΚΒΙΟΜΘΤβΠΗ (1.3) η Bioporo nepeKjmaTexfl (Ι.Ι5). and ββιχολ nepBoro HHTerpaiopa (1.2) npeacTasnaeT codoft bhxos HHTerpanBHoro perynaiopa.

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Claims (1)

SUMMARY OF THE INVENTION An integrator controller, in particular for controlling the speed of industrial robots, comprising three summarizing members, three integrators, four non-linear transmission members, two-transmission members with switching characteristics, one logic circuit OR and two switches, characterized by that the controller inputs - actual values / X / and the entered values / W / - are connected to the first summing member /1.1/, the output of the first summing element /1.1/ is connected to the first integrator /1.2/ and the switching time of integration and the first switch /1.3/ , whose quiescent contact is connected and the first non-linear transmission element (1.4) with the positive threshold value and the second non-linear transmission element (1.6) with the negative threshold value, and whose working contact is connected and the third non-linear transmission element (1.5) with the characteristic stroke at positive input signals and are fourth nonlinear the transmission element (1.7) with the characteristic stroke at the negative input signals, the first and third non-linear transmission members (1.4, 1.5) being connected by the second summarizing member (1.8) and the second and fourth non-linear transmission members (1.6, 1.7) being connected to the third summarizing member member /1.9/, second summing member /1.8/ is connected by second integrator /1.10/, and third summing member /1.9/ is connected to third integrator /1.11/ and at signal on second summing member /1.8/ third integrator /1.11/ remains at xa = 0, and at the signal on the third summarizing member /1.9/ the second integrator / 1.10 / remains at xa = 0, the second integrator /1.10/ is connected to the first transmission with switching characteristic /1.12/, and the third integrator /1.11 / is connected to the second transmission member and the switching characteristic (13.13) and the outputs of the transmission members with the switching characteristic are connected to the log The circuitry OR / 1.14, whose output signal is the control signal for the first switch /1.3/ and the second switch /1.15/, and the output of the first integrator / 1.2 / represents the integral controller output. Recognized by the invention on the basis of the results of expertise made by the Office of Invention and Patenting, Berlin, DD. 3 drawings